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<li class="navelem"><a class="el" href="namespaceob.html">ob</a></li><li class="navelem"><a class="el" href="classob_1_1Frame.html">Frame</a></li>  </ul>
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  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
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<a href="#friends">友元</a> &#124;
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<div class="title">ob::Frame类 参考</div>  </div>
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<p>定义 <a class="el" href="classob_1_1Frame.html" title="定义 Frame 类 ">Frame</a> 类  
 <a href="classob_1_1Frame.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="Frame_8hpp_source.html">Frame.hpp</a>&gt;</code></p>
<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> 类 ob::Frame 继承关系图:</div>
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<area href="classob_1_1PointsFrame.html" title="定义 PointsFrame 类, 继承 VideoFrame 类 " alt="ob::PointsFrame" shape="rect" coords="738,112,974,136"/>
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<area href="classob_1_1IRFrame.html" title="定义 IRFrame 类, 继承 VideoFrame 类 " alt="ob::IRFrame" shape="rect" coords="1230,168,1466,192"/>
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Public 成员函数</h2></td></tr>
<tr class="memitem:a78bdb1b88fcbeee6cd51592e72512a41"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a78bdb1b88fcbeee6cd51592e72512a41">Frame</a> (std::unique_ptr&lt; FrameImpl &gt; impl)</td></tr>
<tr class="separator:a78bdb1b88fcbeee6cd51592e72512a41"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0cb761a3a0a58bf2664a990ccf868e5b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a0cb761a3a0a58bf2664a990ccf868e5b">Frame</a> (<a class="el" href="classob_1_1Frame.html">Frame</a> &amp;frame)</td></tr>
<tr class="separator:a0cb761a3a0a58bf2664a990ccf868e5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0773e0d3139e8f66521b2fbeb69c3dd3"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a0773e0d3139e8f66521b2fbeb69c3dd3">~Frame</a> () noexcept</td></tr>
<tr class="separator:a0773e0d3139e8f66521b2fbeb69c3dd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a34fba5e4839efa8fd8a6acec47df9637"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="ObTypes_8h.html#a42b4219d92627d3cf51af225ec58a345">OBFrameType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a34fba5e4839efa8fd8a6acec47df9637">type</a> ()</td></tr>
<tr class="memdesc:a34fba5e4839efa8fd8a6acec47df9637"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取帧的类型  <a href="#a34fba5e4839efa8fd8a6acec47df9637">更多...</a><br /></td></tr>
<tr class="separator:a34fba5e4839efa8fd8a6acec47df9637"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac3de67739f93b5767c8fe952559b74db"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#ac3de67739f93b5767c8fe952559b74db">format</a> ()</td></tr>
<tr class="memdesc:ac3de67739f93b5767c8fe952559b74db"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取帧的格式  <a href="#ac3de67739f93b5767c8fe952559b74db">更多...</a><br /></td></tr>
<tr class="separator:ac3de67739f93b5767c8fe952559b74db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1001bd44f6b2a2eb0b4c4b7bb0f317f1"><td class="memItemLeft" align="right" valign="top">virtual uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a1001bd44f6b2a2eb0b4c4b7bb0f317f1">index</a> ()</td></tr>
<tr class="memdesc:a1001bd44f6b2a2eb0b4c4b7bb0f317f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取帧的序号  <a href="#a1001bd44f6b2a2eb0b4c4b7bb0f317f1">更多...</a><br /></td></tr>
<tr class="separator:a1001bd44f6b2a2eb0b4c4b7bb0f317f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade0133122510f1081a2f9754fe3113cb"><td class="memItemLeft" align="right" valign="top">virtual void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#ade0133122510f1081a2f9754fe3113cb">data</a> ()</td></tr>
<tr class="memdesc:ade0133122510f1081a2f9754fe3113cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取帧数据  <a href="#ade0133122510f1081a2f9754fe3113cb">更多...</a><br /></td></tr>
<tr class="separator:ade0133122510f1081a2f9754fe3113cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15aa7ffde185af68c920e17aaf0b9131"><td class="memItemLeft" align="right" valign="top">virtual uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a15aa7ffde185af68c920e17aaf0b9131">dataSize</a> ()</td></tr>
<tr class="memdesc:a15aa7ffde185af68c920e17aaf0b9131"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取帧数据大小  <a href="#a15aa7ffde185af68c920e17aaf0b9131">更多...</a><br /></td></tr>
<tr class="separator:a15aa7ffde185af68c920e17aaf0b9131"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae7df5f8bfe70a3a3e8543e24a04f85bc"><td class="memItemLeft" align="right" valign="top">uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#ae7df5f8bfe70a3a3e8543e24a04f85bc">timeStamp</a> ()</td></tr>
<tr class="memdesc:ae7df5f8bfe70a3a3e8543e24a04f85bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取帧的硬件时间戳  <a href="#ae7df5f8bfe70a3a3e8543e24a04f85bc">更多...</a><br /></td></tr>
<tr class="separator:ae7df5f8bfe70a3a3e8543e24a04f85bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aebc0c3fb0c2c3d68519258abe4394908"><td class="memItemLeft" align="right" valign="top">uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#aebc0c3fb0c2c3d68519258abe4394908">timeStampUs</a> ()</td></tr>
<tr class="memdesc:aebc0c3fb0c2c3d68519258abe4394908"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取我们帧的硬件时间戳  <a href="#aebc0c3fb0c2c3d68519258abe4394908">更多...</a><br /></td></tr>
<tr class="separator:aebc0c3fb0c2c3d68519258abe4394908"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0950bcb7600016f3f9d71ed82d9257a6"><td class="memItemLeft" align="right" valign="top">uint64_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a0950bcb7600016f3f9d71ed82d9257a6">systemTimeStamp</a> ()</td></tr>
<tr class="memdesc:a0950bcb7600016f3f9d71ed82d9257a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取帧系统时间戳  <a href="#a0950bcb7600016f3f9d71ed82d9257a6">更多...</a><br /></td></tr>
<tr class="separator:a0950bcb7600016f3f9d71ed82d9257a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae6ce510d6e741d3f46ec34d475074b6f"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:ae6ce510d6e741d3f46ec34d475074b6f"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#ae6ce510d6e741d3f46ec34d475074b6f">is</a> ()</td></tr>
<tr class="memdesc:ae6ce510d6e741d3f46ec34d475074b6f"><td class="mdescLeft">&#160;</td><td class="mdescRight">检查数据帧对象的运行时类型是否与给定类型兼容  <a href="#ae6ce510d6e741d3f46ec34d475074b6f">更多...</a><br /></td></tr>
<tr class="separator:ae6ce510d6e741d3f46ec34d475074b6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad469213f43249aabce4b96d746527a62"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:ad469213f43249aabce4b96d746527a62"><td class="memTemplItemLeft" align="right" valign="top">std::shared_ptr&lt; T &gt;&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#ad469213f43249aabce4b96d746527a62">as</a> ()</td></tr>
<tr class="memdesc:ad469213f43249aabce4b96d746527a62"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classob_1_1Frame.html" title="定义 Frame 类 ">Frame</a> 对象类型转换  <a href="#ad469213f43249aabce4b96d746527a62">更多...</a><br /></td></tr>
<tr class="separator:ad469213f43249aabce4b96d746527a62"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a2683616ec8b3346cf9412051779b9721"><td class="memItemLeft" align="right" valign="top">std::unique_ptr&lt; FrameImpl &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a2683616ec8b3346cf9412051779b9721">impl_</a></td></tr>
<tr class="separator:a2683616ec8b3346cf9412051779b9721"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
友元</h2></td></tr>
<tr class="memitem:a34f7bc7cd29643e53d23b7d500d21739"><td class="memItemLeft" align="right" valign="top">class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a34f7bc7cd29643e53d23b7d500d21739">Filter</a></td></tr>
<tr class="separator:a34f7bc7cd29643e53d23b7d500d21739"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2950f414c752afb074d9849f834ae58e"><td class="memItemLeft" align="right" valign="top">class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#a2950f414c752afb074d9849f834ae58e">Recorder</a></td></tr>
<tr class="separator:a2950f414c752afb074d9849f834ae58e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed198f6baa08dbce96c148a0a65540c3"><td class="memItemLeft" align="right" valign="top">class&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Frame.html#aed198f6baa08dbce96c148a0a65540c3">FrameHelper</a></td></tr>
<tr class="separator:aed198f6baa08dbce96c148a0a65540c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>定义 <a class="el" href="classob_1_1Frame.html" title="定义 Frame 类 ">Frame</a> 类 </p>

<p>在文件 <a class="el" href="Frame_8hpp_source.html">Frame.hpp</a> 第 <a class="el" href="Frame_8hpp_source.html#l00042">42</a> 行定义.</p>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a class="anchor" id="a78bdb1b88fcbeee6cd51592e72512a41"></a>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">ob::Frame::Frame </td>
          <td>(</td>
          <td class="paramtype">std::unique_ptr&lt; FrameImpl &gt;&#160;</td>
          <td class="paramname"><em>impl</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">explicit</span></span>  </td>
  </tr>
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</div><div class="memdoc">

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          <td class="memname">ob::Frame::Frame </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classob_1_1Frame.html">Frame</a> &amp;&#160;</td>
          <td class="paramname"><em>frame</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a class="anchor" id="a0773e0d3139e8f66521b2fbeb69c3dd3"></a>
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          <td class="memname">virtual ob::Frame::~Frame </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span><span class="mlabel">noexcept</span></span>  </td>
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<h2 class="groupheader">成员函数说明</h2>
<a class="anchor" id="a34fba5e4839efa8fd8a6acec47df9637"></a>
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          <td class="memname">virtual <a class="el" href="ObTypes_8h.html#a42b4219d92627d3cf51af225ec58a345">OBFrameType</a> ob::Frame::type </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>获取帧的类型 </p>
<dl class="section return"><dt>返回</dt><dd>OBFrameType 返回帧的类型 </dd></dl>

</div>
</div>
<a class="anchor" id="ac3de67739f93b5767c8fe952559b74db"></a>
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          <td class="memname">virtual <a class="el" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a> ob::Frame::format </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>获取帧的格式 </p>
<dl class="section return"><dt>返回</dt><dd>OBFormat 返回帧的格式 </dd></dl>

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          <td class="memname">virtual uint64_t ob::Frame::index </td>
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<p>获取帧的序号 </p>
<dl class="section return"><dt>返回</dt><dd>uint64_t 返回帧的序列号 </dd></dl>

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<p>获取帧数据 </p>
<dl class="section return"><dt>返回</dt><dd>void* 返回帧数据 </dd></dl>

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<p>获取帧数据大小 </p>
<dl class="section attention"><dt>注意</dt><dd>如果是点云数据，则返回所有点集占用的字节数。如果你需要找到点数，你需要划分 dataSize 由对应点类型的结构体大小。 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>uint32_t 返回帧数据大小 </dd></dl>

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<p>获取帧的硬件时间戳 </p>
<dl class="section return"><dt>返回</dt><dd>uint64_t 返回帧硬件的时间戳 </dd></dl>

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<p>获取我们帧的硬件时间戳 </p>
<dl class="section return"><dt>返回</dt><dd>uint64_t 返回帧硬件的时间戳，单位 us </dd></dl>

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<p>获取帧系统时间戳 </p>
<dl class="section return"><dt>返回</dt><dd>uint64_t 返回帧硬件的时间戳 </dd></dl>

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<p>检查数据帧对象的运行时类型是否与给定类型兼容 </p>
<dl class="tparams"><dt>模板参数</dt><dd>
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<dl class="section return"><dt>返回</dt><dd>bool 返回结果 </dd></dl>

<p>在文件 <a class="el" href="Frame_8hpp_source.html">Frame.hpp</a> 第 <a class="el" href="Frame_8hpp_source.html#l00442">442</a> 行定义.</p>

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template&lt;typename T &gt; </div>
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<p><a class="el" href="classob_1_1Frame.html" title="定义 Frame 类 ">Frame</a> 对象类型转换 </p>
<dl class="tparams"><dt>模板参数</dt><dd>
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<dl class="section return"><dt>返回</dt><dd>std::shared_ptr&lt;T&gt; 返回结果，如果无法转换，将抛出异常 </dd></dl>

<p>在文件 <a class="el" href="Frame_8hpp_source.html">Frame.hpp</a> 第 <a class="el" href="Frame_8hpp_source.html#l00123">123</a> 行定义.</p>

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<h2 class="groupheader">友元及相关函数文档</h2>
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<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
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<p>在文件 <a class="el" href="Frame_8hpp_source.html">Frame.hpp</a> 第 <a class="el" href="Frame_8hpp_source.html#l00132">132</a> 行定义.</p>

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<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
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<p>在文件 <a class="el" href="Frame_8hpp_source.html">Frame.hpp</a> 第 <a class="el" href="Frame_8hpp_source.html#l00133">133</a> 行定义.</p>

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<span class="mlabels"><span class="mlabel">friend</span></span>  </td>
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<p>在文件 <a class="el" href="Frame_8hpp_source.html">Frame.hpp</a> 第 <a class="el" href="Frame_8hpp_source.html#l00134">134</a> 行定义.</p>

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<h2 class="groupheader">类成员变量说明</h2>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>在文件 <a class="el" href="Frame_8hpp_source.html">Frame.hpp</a> 第 <a class="el" href="Frame_8hpp_source.html#l00044">44</a> 行定义.</p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>header_cn/libobsensor/hpp/<a class="el" href="Frame_8hpp_source.html">Frame.hpp</a></li>
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